CN108418491A - Three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method based on simplified model prediction - Google Patents
Three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method based on simplified model prediction Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/141—Flux estimation
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Abstract
The invention discloses a kind of three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control methods based on simplified model prediction, by introducing offset voltage vector concept, the process that voltage selects is realized in the desired voltage vector plane not changed with voltage fluctuation of capacitor, valuation functions are enable to carry out sector judgement in orthogonal desired voltage vector plane, complicated trigonometric function is avoided to calculate, predict that calculation times are reduced simultaneously, voltage vector selection course is simplified, and system-computed burden reduces.The advantage of the invention is that introducing the concept of offset voltage vector, the influence of voltage fluctuation of capacitor is eliminated when selection optimized switching signal, the number that the optimization of algorithm makes prediction calculate is reduced, system-computed burden reduction, system dynamic responding speed is improved, motor operation is reliable.
Description
Technical field
The invention belongs to motor control technology fields, and in particular to it is a kind of based on simplified model prediction three-phase four switch it is inverse
Become device permanent magnet synchronous motor system flux linkage control method.
Background technology
Electric system drive control part is frequently with six switching voltage source inventer of three-phase, derailing switch when system longtime running
Part, which inevitably breaks down, causes motor phase winding to open a way.The motor output torque fluctuation of phase-deficient operation is big, and mechanicalness noise deteriorates,
Overall performance reduces, it is therefore necessary to study the motor control strategy under failure operation.Four switching voltage source inventer of three-phase is
New topological structure is constituted between failure is mutually accessed two capacitances on the basis of failure topological structure with realize motor fault-tolerant run,
The topology advantage, which is embodied in, to be not required to increase extra switch device, and simple in structure, hardware cost is low.
Conventional model predictive control strategy assesses the control effect of each voltage vector using valuation functions, and therefrom chooses
Optimal voltage vector, principle is simple, selects accuracy rate high, can effectively reduce motor torque and magnetic linkage pulsation.But due to assessing letter
Number is made of torque error and magnetic linkage error, and the two quantitative levels differ, and need to be carried out a large amount of engineering tests and be selected suitable weight
Influence because of both quantum balancings to valuation functions, increases system complexity.The Chinese invention of Publication No. CN107453664A
Patent proposes a kind of optimization algorithm, indicates that torque keeps valuation functions only related with magnetic linkage error with magnetic linkage, to eliminate assessment
Function weight factor influences, but this method still needs to that each optional vector substitution valuation functions are chosen optimal solution using traversal,
System-computed burden is big.
Invention content
In view of above-mentioned, the present invention provides a kind of three-phase Four-switch converter permanent magnet synchronous electrics based on simplified model prediction
Machine system flux linkage control method, by introducing offset voltage vector concept, by the process of voltage selection not with capacitance voltage wave
It moves and is realized in the desired voltage vector plane of variation, valuation functions is enable to be fanned in orthogonal desired voltage vector plane
Area judges, avoids complicated trigonometric function and calculates, while predicting that calculation times are reduced, and voltage vector selection course obtains letter
Change, system-computed burden reduces.
A kind of three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method based on simplified model prediction, packet
Include following steps：
(1) the threephase stator electric current i of motor is acquireda~ic, rotor position angle θr, rotational speed omegarAnd three-phase four switch inversion
Bridge arm capacitance voltage V in A phases in deviceC1With A phase lower bridge arm capacitance voltages VC2；
(2) the flux compensation amount of motor is calculated according to collected information in step (1)And flux linkage set arrow
Amount
(3) according to capacitance voltage VC1And VC2Determine offset voltage vector Voffset, and then combine the magnetic linkage under dq coordinate systems
Given vectorCalculate offset magnetic linkage error vector Δ ψ of the motor under α β coordinate systemss,αβ|offset；
(4) according to offset magnetic linkage error vector Δ ψs,αβ|offsetFrom four groups of effective voltage vector V1(00)、V2(10)、V3
(11)、V4(01) one group is selected to apply optimum voltage vector institute as optimum voltage vector, and to three-phase Four-switch converter in
Corresponding switching signal is to control electric system.
Further, the flux compensation amount of motor is calculated by the following formula in the step (2)
Δia=KpΔVDC
Wherein：ΔVDCFor direct current biasing amount, Δ iaElectric current is mutually compensated for failure, s is Laplace operator, KpFor setting
Proportional gain factor, LdAnd LqThe respectively d-axis inductance and quadrature axis inductance of motor, j is imaginary unit.
Further, the flux linkage set vector of motor is calculated by the following formula in the step (2)
Wherein：ΨfFor the rotor permanent magnet magnetic linkage of motor, NpFor the number of pole-pairs of motor, LqFor the quadrature axis inductance of motor,For motor torque specified rate, j is imaginary unit.
Further, offset voltage vector V is determined by following formula in the step (3)offset：
Voffset=(VC2-VC1)/3+j·0
Wherein：J is imaginary unit.
Further, offset magnetic linkage error of the motor under α β coordinate systems is calculated by the following formula in the step (3)
Vector Δ ψs,αβ|offset：
ψs,dq|offset=ψs,dq0+(cosθr-jsinθr)·Voffset·ts
ψs,αβ|offset=(cos θr+jsinθr)ψs,dq|offset
Wherein：tsFor the switch periods of device for power switching in inverter, ψs,dq0For stator of the motor under dq coordinate systems
Flux linkage vector, ψs,dq|offsetThe magnetic linkage error vector for being motor under dq coordinate systems, ψs,αβ|offsetIt is motor under α β coordinate systems
Magnetic linkage error vector,For the flux linkage set vector under α β coordinate systems, j is imaginary unit.
Further, the stator magnetic linkage vector ψs,dq0Expression formula it is as follows：
ψs,dq0=(1-Rsts/Ld)ψd|k+ωrtsψq|k+RsΨfts/Ld+j(-ωrtsψd|k+(1-Rsts/Lq)ψq|k)
Wherein：RsFor the stator resistance of motor, LdAnd LqThe respectively d-axis inductance and quadrature axis inductance of motor, ψd|kAnd ψq|k
The respectively d axis components and q axis components of stator flux of motor, ΨfFor the rotor permanent magnet magnetic linkage of motor.
Further, according to offset magnetic linkage error vector Δ ψ in the step (4)s,αβ|offsetSelect optimum voltage vector
Standard it is as follows：
When meeting following relationship, effective voltage vector V is selected1(00) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected2(10) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected3(11) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected4(01) it is used as optimum voltage vector；
Wherein：Δψs,α|offsetWith Δ ψs,β|offsetRespectively offset magnetic linkage error vector Δ ψs,αβ|offsetα axis components
And beta -axis component, tsFor the switch periods of device for power switching in inverter, VdcFor the DC bus-bar voltage of inverter.
Further, the effective voltage vector V in the step (4)1(00) two phase switching signals of corresponding BC are respectively
0,0, that is, indicate the device for power switching conducting of inverter B phases lower bridge arm and C phase lower bridge arms；Effective voltage vector V2(10) corresponding
Two phase switching signals of BC be respectively 1,0, that is, indicate inverter B phases on bridge arm and the device for power switching of C phase lower bridge arms conducting；
Effective voltage vector V3(11) two phase switching signals of corresponding BC are respectively 1,1, that is, are indicated in inverter B phases on bridge arm and C phases
The device for power switching of bridge arm is connected；Effective voltage vector V4(01) two phase switching signals of corresponding BC are respectively 0,1, that is, are indicated
The device for power switching conducting of bridge arm in inverter B phases lower bridge arm and C phases.
The advantage of the invention is that introducing the concept of offset voltage vector, select to eliminate capacitance voltage when optimized switching signal
The influence of fluctuation, the number that the optimization of algorithm makes prediction calculate are reduced, and system-computed burden reduces, and improves system dynamic response
Speed, motor operation are reliable.
Description of the drawings
Fig. 1 is the structural schematic diagram that three-phase four switchs permanent magnet synchronous motor system.
Fig. 2 is the control block diagram of simplified model forecasting system of the present invention.
Rotating speed, electromagnetic torque, magnetic linkage amplitude and the stator current waveforms figure of motor when Fig. 3 is steady-state operation.
Motor alpha-beta axis stator magnetic linkage vector locus schematic diagram when Fig. 4 is stable operation.
Fig. 5 is that mutating speed gives experimental waveform figure.
Fig. 6 is mutation torque reference experimental waveform figure.
Fig. 7 is the torque of motor and speed waveform figure under load disturbance.
Fig. 8 (a) is the dc-link capacitance voltage oscillogram of inverter in the case of proportional control factor K=0.03.
Fig. 8 (b) is the dc-link capacitance voltage oscillogram of inverter in the case of proportional control factor K=0.05.
Fig. 9 (a) is the calculating time waveform figure that method for controlling torque is predicted using conventional model.
Fig. 9 (b) is the calculating time waveform figure using model prediction flux linkage control method.
Fig. 9 (c) is the calculating time waveform figure using simplified model of the present invention prediction magnetic linkage prosecutor method.
Specific implementation mode
In order to more specifically describe the present invention, below in conjunction with the accompanying drawings and specific implementation mode is to technical scheme of the present invention
It is described in detail.
As shown in Figure 1, in three-phase four switchs permanent magnet synchronous motor system, the bc two of motor connects normal switch bridge arm, a
Connect the capacitance neutral point of DC side.As shown in Fig. 2, three-phase Four-switch converter permanent magnet synchronous motor system magnetic linkage control of the present invention
Method processed, includes the following steps：
(1) the rotor electrical angle θ of permanent magnet synchronous motor 1 is measured using encoderrAnd obtain rotor through differential process module 2
Angular rate ωr, utilize current sensor acquisition threephase stator electric current Is(ia~ic), it is acquired using capacitance voltage sensor straight
Flow lateral capacitance voltage VC1、VC2。
(2) through flux compensation device module 3 by dc-link capacitance voltage VC1、VC2, motor speed ωrElectricity is obtained as input
Hold the direct current biasing amount Δ V of mid-point voltagedcAnd it controls acquisition failure through ratio and mutually compensates electric current Δ iaMagnetic is obtained based on formula again
Chain compensated setpointSpecific formula for calculation is as follows：
Δia=KpΔVdc
(3) given rotating speed ωrefWith motor speed ωrGiven torque is obtained through pi regulatorFlux linkage set is compensatedWith given torqueGiven magnetic linkage is obtained as the input of given flux linkage calculation module 4Specific formula for calculation is such as
Under：
(4) by dc-link capacitance voltage VC1、VC2Input as offset voltage vectors calculation module 5 obtains offset electricity
Press vector Voffset, specific formula for calculation is as follows：
Voffset=(VC2-VC1)/3+j·0
(5) by offset voltage vector VoffsetWith threephase stator electric current IsWith motor speed ωrIt is sweared as offset magnetic linkage is calculated
The input of amount error module 6 obtains offset magnetic linkage error vector Δ Ψs,αβ|offset, specific formula for calculation is as follows：
ψs,dq0=(1-Rsts/Ld)ψd|k+ωrtsψq|k+Rsψfts/Ld+j(-ωrtsψd|k+(1-Rsts/Lq)ψq|k)
ψs,dq|offset=ψs,dq0+(cosθr-jsinθr)·Voffset·ts
ψs,αβ|offset=(cos θr+jsinθr)ψs,dq|offset
(6) by Δ Ψs,αβ|offsetOptimum voltage vector, offset are selected according to simplified model PREDICTIVE CONTROL thought as input
Magnetic linkage error vector sector judges to be set out in table 1 with the optimal voltage vector selected under different sectors.
Table 1
(7) the optimum voltage vector of selection is input to switching signal generation module 7 and obtains driving three-phase four switch inversion
The switching signal of device power switch tube：Sb、Sc, control of the driving three-phase Four-switch converter realization to motor.Wherein, switch letter
In number generation module 7, four basic voltage vectors V1、V2、V3、V4Corresponding switching signal (Sb, Sc) be combined as：(0,0),
(1,0), (1,1), (0,1), 0 and 1 indicates in corresponding phase the shutdown of bridge arm switching tube and opens that (inverter is same mutually upper and lower respectively
The drive signal of bridge arm switching tube is complementary).
(8) it is the permanent-magnet synchronous verified simplified model PREDICTIVE CONTROL proposed by the present invention and driven in three-phase Four-switch converter
Validity in electric system carries out experimental verification research by building on experiment porch, test parameters is as shown in table 2.System
Controlling cycle be set as 50 μ s.
Table 2
Experimental waveform when the speed steady-state operation that motor shown in Fig. 3 is run with 500rpm, waveform are distinguished from top to bottom
It is motor speed, electromagnetic torque, magnetic linkage amplitude and stator current, it can be seen that motor operation is steady at this time, torque and magnetic linkage width
Value pulsation is small, and stator current is also more sinusoidal.When motor stabilizing shown in Fig. 4, stator magnetic linkage vector is under rest frame
The track of movement locus, at this time stator magnetic linkage operation is the magnetic linkage circle of a standard, it can be seen that motor reliability service.
The rotational speed setup mutating experiment waveform of electric system, this speed per hour under simplified model prediction magnetic linkage control shown in Fig. 5
The experimental waveform of electric system when step occurs for the degree given step from 500rpm to 1000rpm, torque reference shown in Fig. 6.
The load disturbance experimental waveform of electric system shown in Fig. 7, from the waveform of torque and rotating speed from, when load occurs
When variation, actual motor torque can keep up with changed torque reference well；From the waveform of rotating speed, rotating speed is loading
Fluctuation is had when changing, but can be restored to given rotating speed at once.Simplified model predict magnetic linkage control under electric system and
Electric system based on model prediction magnetic linkage control all has stronger anti-interference.
Fig. 8 (a) and Fig. 8 (b) gives the control experimental waveform of dc-link capacitance voltage, adaptive due to all using
Filter extracts DC quantity to capacitance voltage, it can be seen that is controlled with the capacitor voltage balance under model prediction magnetic linkage control
Effect it is consistent.After the elimination of capacitance voltage direct current biasing, the operation of system will not be interfered, to which capacitance voltage controls
Effect is also got well than conventional model predicts direct torque.
Conventional model prediction direct torque, model prediction magnetic linkage control and simplification is set forth in Fig. 9 (a)~Fig. 9 (c)
The calculating time t of three kinds of control methods of model prediction magnetic linkage controlcal, tcalIt is calculated including state quantity prediction and voltage vector selects
Process.As can be seen that simplified model proposed by the present invention prediction magnetic linkage control algorithm is obviously few on calculating the time from waveform
Direct torque and model prediction magnetic linkage control are predicted in conventional model, this also means that, when using simplified mould proposed by the present invention
Type predicts magnetic linkage control algorithm, and in the case of conditions permit, the sample frequency of system allows have higher room for promotion.
The above-mentioned description to embodiment can be understood and applied the invention for ease of those skilled in the art.
Person skilled in the art obviously easily can make various modifications to above-described embodiment, and described herein general
Principle is applied in other embodiment without having to go through creative labor.Therefore, the present invention is not limited to the above embodiments, ability
Field technique personnel announcement according to the present invention, the improvement made for the present invention and modification all should be in protection scope of the present invention
Within.
Claims (8)
1. a kind of three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method based on simplified model prediction, including
Following steps：
(1) the threephase stator electric current i of motor is acquireda~ic, rotor position angle θr, rotational speed omegarAnd A in three-phase Four-switch converter
Bridge arm capacitance voltage V in phaseC1With A phase lower bridge arm capacitance voltages VC2；
(2) the flux compensation amount of motor is calculated according to collected information in step (1)And flux linkage set vector
(3) according to capacitance voltage VC1And VC2Determine offset voltage vector Voffset, and then combine the flux linkage set arrow under dq coordinate systems
AmountCalculate offset magnetic linkage error vector Δ ψ of the motor under α β coordinate systemss,αβ|offset；
(4) according to offset magnetic linkage error vector Δ ψs,αβ|offsetFrom four groups of effective voltage vector V1(00)、V2(10)、V3(11)、V4
(01) one group is selected to apply opening corresponding to optimum voltage vector as optimum voltage vector, and to three-phase Four-switch converter in
OFF signal is to control electric system.
2. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：The flux compensation amount of motor is calculated by the following formula in the step (2)
Δia=KpΔVDC
Wherein：ΔVDCFor direct current biasing amount, Δ iaElectric current is mutually compensated for failure, s is Laplace operator, KpFor the ratio of setting
Gain coefficient, LdAnd LqThe respectively d-axis inductance and quadrature axis inductance of motor, j is imaginary unit.
3. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：The flux linkage set vector of motor is calculated by the following formula in the step (2)
Wherein：ΨfFor the rotor permanent magnet magnetic linkage of motor, NpFor the number of pole-pairs of motor, LqFor the quadrature axis inductance of motor,For electricity
Machine torque reference amount, j are imaginary unit.
4. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：Offset voltage vector V is determined by following formula in the step (3)offset：
Voffset=(VC2-VC1)/3+j·0
Wherein：J is imaginary unit.
5. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：Offset magnetic linkage error vector Δ of the motor under α β coordinate systems is calculated by the following formula in the step (3)
ψs,αβ|offset：
ψs,dq|offset=ψs,dq0+(cosθr-jsinθr)·Voffset·ts
ψs,αβ|offset=(cos θr+jsinθr)ψs,dq|offset
Wherein：tsFor the switch periods of device for power switching in inverter, ψs,dq0For stator magnetic linkage of the motor under dq coordinate systems
Vector, ψs,dq|offsetThe magnetic linkage error vector for being motor under dq coordinate systems, ψs,αβ|offsetFor magnetic of the motor under α β coordinate systems
Chain error vector,For the flux linkage set vector under α β coordinate systems, j is imaginary unit.
6. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 5, feature
It is：The stator magnetic linkage vector ψs,dq0Expression formula it is as follows：
ψs,dq0=(1-Rsts/Ld)ψd|k+ωrtsψq|k+RsΨfts/Ld+j(-ωrtsψd|k+(1-Rsts/Lq)ψq|k)
Wherein：RsFor the stator resistance of motor, LdAnd LqThe respectively d-axis inductance and quadrature axis inductance of motor, ψd|kAnd ψq|kRespectively
For the d axis components and q axis components of stator flux of motor, ΨfFor the rotor permanent magnet magnetic linkage of motor.
7. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：According to offset magnetic linkage error vector Δ ψ in the step (4)s,αβ|offsetSelect the standard of optimum voltage vector as follows：
When meeting following relationship, effective voltage vector V is selected1(00) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected2(10) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected3(11) it is used as optimum voltage vector；
When meeting following relationship, effective voltage vector V is selected4(01) it is used as optimum voltage vector；
Wherein：Δψs,α|offsetWith Δ ψs,β|offsetRespectively offset magnetic linkage error vector Δ ψs,αβ|offsetα axis components and β axis
Component, tsFor the switch periods of device for power switching in inverter, VdcFor the DC bus-bar voltage of inverter.
8. three-phase Four-switch converter permanent magnet synchronous motor system flux linkage control method according to claim 1, feature
It is：Effective voltage vector V in the step (4)1(00) two phase switching signals of corresponding BC are respectively 0,0, that is, are indicated inverse
Become the device for power switching conducting of device B phases lower bridge arm and C phase lower bridge arms；Effective voltage vector V2(10) corresponding BC two-phases switch
Signal is respectively 1,0, that is, indicates bridge arm and the conducting of the device for power switching of C phase lower bridge arms in inverter B phases；Effective voltage vector
V3(11) two phase switching signals of corresponding BC are respectively 1,1, that is, indicate that the power of bridge arm in bridge arm and C phases in inverter B phases is opened
Close break-over of device；Effective voltage vector V4(01) two phase switching signals of corresponding BC are respectively 0,1, that is, are indicated under inverter B phases
The device for power switching conducting of bridge arm on bridge arm and C phases.
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| CN111551872A (en) * | 2020-02-27 | 2020-08-18 | 西北工业大学 | Online diagnosis method for open-circuit fault of PMSM (permanent magnet synchronous motor) driving system inverter |
| CN112994553A (en) * | 2021-03-15 | 2021-06-18 | 合肥恒大江海泵业股份有限公司 | Simplified model prediction voltage control method for permanent magnet motor system |
| CN115483859A (en) * | 2022-10-12 | 2022-12-16 | 国网福建省电力有限公司 | Control method and device for combined motor of heating and ventilation system |
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| CN111551872A (en) * | 2020-02-27 | 2020-08-18 | 西北工业大学 | Online diagnosis method for open-circuit fault of PMSM (permanent magnet synchronous motor) driving system inverter |
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| CN112994553A (en) * | 2021-03-15 | 2021-06-18 | 合肥恒大江海泵业股份有限公司 | Simplified model prediction voltage control method for permanent magnet motor system |
| CN115483859A (en) * | 2022-10-12 | 2022-12-16 | 国网福建省电力有限公司 | Control method and device for combined motor of heating and ventilation system |
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